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author | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
commit | 063caba36bd2fe26eb4bfa8e546e9551ccc05519 (patch) | |
tree | d8ea5015111793800d945fbc33505088cf5fe12d /src/drivers/ets_airspeed/ets_airspeed.cpp | |
parent | 68352cb923d366b66bb68c8d946c4960b6f7ff1a (diff) | |
parent | 36495cdb62e21b30a5a1851ec802c9f6a40c1171 (diff) | |
download | px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.gz px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.bz2 px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.zip |
Merge branch 'master' into navigator_rewrite
Conflicts:
src/drivers/gps/gps.cpp
src/drivers/gps/mtk.cpp
src/modules/commander/commander.cpp
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
src/modules/navigator/mission.cpp
src/modules/navigator/mission.h
src/modules/navigator/navigator_main.cpp
src/modules/navigator/navigator_state.h
src/modules/position_estimator_inav/position_estimator_inav_main.c
Diffstat (limited to 'src/drivers/ets_airspeed/ets_airspeed.cpp')
-rw-r--r-- | src/drivers/ets_airspeed/ets_airspeed.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index 146a06e7c..2de7063ea 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -154,8 +154,9 @@ ETSAirspeed::collect() return ret; } - uint16_t diff_pres_pa = val[1] << 8 | val[0]; - if (diff_pres_pa == 0) { + uint16_t diff_pres_pa_raw = val[1] << 8 | val[0]; + uint16_t diff_pres_pa; + if (diff_pres_pa_raw == 0) { // a zero value means the pressure sensor cannot give us a // value. We need to return, and not report a value or the // caller could end up using this value as part of an @@ -165,10 +166,10 @@ ETSAirspeed::collect() return -1; } - if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { + if (diff_pres_pa_raw < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { diff_pres_pa = 0; } else { - diff_pres_pa -= _diff_pres_offset; + diff_pres_pa = diff_pres_pa_raw - _diff_pres_offset; } // Track maximum differential pressure measured (so we can work out top speed). @@ -183,6 +184,7 @@ ETSAirspeed::collect() // XXX we may want to smooth out the readings to remove noise. report.differential_pressure_filtered_pa = (float)diff_pres_pa; + report.differential_pressure_raw_pa = (float)diff_pres_pa_raw; report.temperature = -1000.0f; report.voltage = 0; report.max_differential_pressure_pa = _max_differential_pressure_pa; |